Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : usbd_cdc_if.c
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* @version : v3.0_Cube
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* @brief : Usb device for Virtual Com Port.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "usbd_cdc_if.h"
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/* USER CODE BEGIN INCLUDE */
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/* USER CODE END INCLUDE */
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE END PV */
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/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
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* @brief Usb device library.
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* @{
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*/
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/** @addtogroup USBD_CDC_IF
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* @{
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*/
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/** @defgroup USBD_CDC_IF_Private_TypesDefinitions USBD_CDC_IF_Private_TypesDefinitions
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* @brief Private types.
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* @{
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*/
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/* USER CODE BEGIN PRIVATE_TYPES */
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/* USER CODE END PRIVATE_TYPES */
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/**
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* @}
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*/
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/** @defgroup USBD_CDC_IF_Private_Defines USBD_CDC_IF_Private_Defines
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* @brief Private defines.
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* @{
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*/
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/* USER CODE BEGIN PRIVATE_DEFINES */
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/* USER CODE END PRIVATE_DEFINES */
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/**
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* @}
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*/
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/** @defgroup USBD_CDC_IF_Private_Macros USBD_CDC_IF_Private_Macros
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* @brief Private macros.
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* @{
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*/
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/* USER CODE BEGIN PRIVATE_MACRO */
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/* USER CODE END PRIVATE_MACRO */
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/**
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* @}
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*/
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/** @defgroup USBD_CDC_IF_Private_Variables USBD_CDC_IF_Private_Variables
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* @brief Private variables.
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* @{
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*/
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/* Create buffer for reception and transmission */
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/* It's up to user to redefine and/or remove those define */
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/** Received data over USB are stored in this buffer */
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uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];
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/** Data to send over USB CDC are stored in this buffer */
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uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
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/* USER CODE BEGIN PRIVATE_VARIABLES */
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/* USER CODE END PRIVATE_VARIABLES */
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/**
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* @}
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*/
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/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
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* @brief Public variables.
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* @{
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*/
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extern USBD_HandleTypeDef hUsbDeviceFS;
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/* USER CODE BEGIN EXPORTED_VARIABLES */
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/* USER CODE END EXPORTED_VARIABLES */
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/**
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* @}
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*/
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/** @defgroup USBD_CDC_IF_Private_FunctionPrototypes USBD_CDC_IF_Private_FunctionPrototypes
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* @brief Private functions declaration.
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* @{
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*/
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static int8_t CDC_Init_FS(void);
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static int8_t CDC_DeInit_FS(void);
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static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
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static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len);
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static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);
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/* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
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/* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */
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/**
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* @}
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*/
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USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
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{
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CDC_Init_FS,
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CDC_DeInit_FS,
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CDC_Control_FS,
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CDC_Receive_FS,
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CDC_TransmitCplt_FS
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};
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/* Private functions ---------------------------------------------------------*/
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/**
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* @brief Initializes the CDC media low layer over the FS USB IP
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* @retval USBD_OK if all operations are OK else USBD_FAIL
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*/
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static int8_t CDC_Init_FS(void)
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{
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/* USER CODE BEGIN 3 */
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/* Set Application Buffers */
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USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, 0);
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USBD_CDC_SetRxBuffer(&hUsbDeviceFS, UserRxBufferFS);
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return (USBD_OK);
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/* USER CODE END 3 */
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}
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/**
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* @brief DeInitializes the CDC media low layer
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* @retval USBD_OK if all operations are OK else USBD_FAIL
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*/
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static int8_t CDC_DeInit_FS(void)
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{
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/* USER CODE BEGIN 4 */
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return (USBD_OK);
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/* USER CODE END 4 */
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}
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/**
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* @brief Manage the CDC class requests
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* @param cmd: Command code
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* @param pbuf: Buffer containing command data (request parameters)
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* @param length: Number of data to be sent (in bytes)
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* @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
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*/
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static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
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{
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/* USER CODE BEGIN 5 */
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switch(cmd)
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{
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case CDC_SEND_ENCAPSULATED_COMMAND:
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break;
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case CDC_GET_ENCAPSULATED_RESPONSE:
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break;
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case CDC_SET_COMM_FEATURE:
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break;
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case CDC_GET_COMM_FEATURE:
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break;
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case CDC_CLEAR_COMM_FEATURE:
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break;
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/*******************************************************************************/
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/* Line Coding Structure */
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/*-----------------------------------------------------------------------------*/
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/* Offset | Field | Size | Value | Description */
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/* 0 | dwDTERate | 4 | Number |Data terminal rate, in bits per second*/
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/* 4 | bCharFormat | 1 | Number | Stop bits */
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/* 0 - 1 Stop bit */
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/* 1 - 1.5 Stop bits */
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/* 2 - 2 Stop bits */
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/* 5 | bParityType | 1 | Number | Parity */
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/* 0 - None */
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/* 1 - Odd */
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/* 2 - Even */
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/* 3 - Mark */
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/* 4 - Space */
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/* 6 | bDataBits | 1 | Number Data bits (5, 6, 7, 8 or 16). */
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/*******************************************************************************/
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case CDC_SET_LINE_CODING:
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break;
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case CDC_GET_LINE_CODING:
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break;
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case CDC_SET_CONTROL_LINE_STATE:
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break;
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case CDC_SEND_BREAK:
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break;
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default:
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break;
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}
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return (USBD_OK);
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/* USER CODE END 5 */
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}
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/**
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* @brief Data received over USB OUT endpoint are sent over CDC interface
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* through this function.
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*
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* @note
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* This function will issue a NAK packet on any OUT packet received on
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* USB endpoint until exiting this function. If you exit this function
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* before transfer is complete on CDC interface (ie. using DMA controller)
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* it will result in receiving more data while previous ones are still
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* not sent.
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*
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* @param Buf: Buffer of data to be received
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* @param Len: Number of data received (in bytes)
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* @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
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*/
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static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
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{
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/* USER CODE BEGIN 6 */
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USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
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USBD_CDC_ReceivePacket(&hUsbDeviceFS);
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return (USBD_OK);
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/* USER CODE END 6 */
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}
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/**
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* @brief CDC_Transmit_FS
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* Data to send over USB IN endpoint are sent over CDC interface
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* through this function.
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* @note
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*
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*
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* @param Buf: Buffer of data to be sent
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* @param Len: Number of data to be sent (in bytes)
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* @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
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*/
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uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
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{
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uint8_t result = USBD_OK;
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/* USER CODE BEGIN 7 */
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USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
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if (hcdc->TxState != 0){
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return USBD_BUSY;
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}
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USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
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result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
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/* USER CODE END 7 */
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return result;
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}
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/**
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* @brief CDC_TransmitCplt_FS
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* Data transmitted callback
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*
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* @note
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* This function is IN transfer complete callback used to inform user that
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* the submitted Data is successfully sent over USB.
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*
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* @param Buf: Buffer of data to be received
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* @param Len: Number of data received (in bytes)
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* @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
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*/
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static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
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{
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uint8_t result = USBD_OK;
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/* USER CODE BEGIN 13 */
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UNUSED(Buf);
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UNUSED(Len);
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UNUSED(epnum);
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/* USER CODE END 13 */
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return result;
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}
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/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
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/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
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/**
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* @}
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*/
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/**
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* @}
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*/
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